CN118163944A - Bionic dragonfly flapping wing aircraft - Google Patents
Bionic dragonfly flapping wing aircraft Download PDFInfo
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- CN118163944A CN118163944A CN202410591976.4A CN202410591976A CN118163944A CN 118163944 A CN118163944 A CN 118163944A CN 202410591976 A CN202410591976 A CN 202410591976A CN 118163944 A CN118163944 A CN 118163944A
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- 230000009189 diving Effects 0.000 description 6
- 239000002131 composite material Substances 0.000 description 2
- 230000036461 convulsion Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
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- 241000271566 Aves Species 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 241000288673 Chiroptera Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
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Abstract
The invention discloses a bionic dragonfly flapping wing aircraft, which belongs to the technical field of aircrafts and comprises the following components: a bottom plate bracket; front flapping wing, back flapping wing, front flapping device, back flapping device, wherein: the front and rear flapping devices have the same structure and are symmetrically arranged at the front and rear ends of the bottom plate bracket; the flapping device comprises: the device comprises a motor, a transmission flapping mechanism and a steering mechanism; the transmission flapping mechanism is a space crank rotating block mechanism; the steering mechanism can control the flapping wings to perform glancing motion. The front and rear driving flapping mechanisms are respectively controlled by two motors, so that the flapping phase difference and the flapping frequency between the front flapping wing and the rear flapping wing can be controlled to finish pitching motion, the front steering mechanism and the rear steering mechanism are controlled to finish yaw or rapid jerking motion, if the front steering mechanism and the rear steering mechanism continuously reciprocate, the front flapping wing and the rear flapping wing can finish up-and-down flapping of front and rear sweeping in space, the real flight condition of the dragonfly is simulated better, and the bionic effect is achieved.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a bionic dragonfly flapping-wing aircraft.
Background
A flapping wing aircraft is an aircraft that mimics the flying attitude of bats, birds, or insects and is based on a biomimetic design. The aircraft has the advantages of high flight efficiency, good concealment, strong maneuverability, capability of flexibly changing the flight state and the like, and can rapidly realize the high-difficulty actions which are difficult to realize in the traditional flight modes such as sharp turning, diving and the like compared with the two traditional flight modes of the fixed wing and the rotor aircraft, so that the aircraft has more advantages when flying in a narrow space. Under the condition of low Reynolds number, the flapping wing flight mode can obtain higher pneumatic efficiency and energy utilization rate than the traditional flight mode, and the flapping wing aircraft has wide application prospect in the military and civil fields.
At present, typical mechanisms such as a single-crank double-rocker, a crank sliding block, a crank sliding groove, a double-crank double-rocker, a space crank connecting rod and the like are generally adopted as a flapping mechanism of the bionic flapping-wing aircraft, so that only single-section up-down flapping can be realized, and the degree of freedom of the flapping wings of most of the flapping-wing aircraft in space is not high, so that the aerodynamic performance of the flapping-wing aircraft is poor, and the flapping wings can provide insufficient lift. Furthermore, control of flapping wing aircraft mainly relies on the tails such as: the control of the vertical tail wing, the V-shaped wing and the bird-like tail wing is relatively poor, and the feedback time is long, so that the flight attitude of the aircraft cannot be adjusted in time.
Disclosure of Invention
The invention aims to solve the problems of poor flight control effect and poor aerodynamic performance caused by low degree of freedom in space of flapping wings of most of the current flapping wing aircrafts, and provides a bionic dragonfly flapping wing aircraft based on dragonfly flight characteristics and aerodynamic theory.
A bionic dragonfly ornithopter comprising: the front flapping wing device and the rear flapping wing device have the same structure and are symmetrically arranged at the front end and the rear end of the bottom plate bracket 1;
The front flapping wing device comprises: a front main motor 411, a left front transmission flapping mechanism 60, a right front transmission flapping mechanism 61, and a front steering mechanism 8; the front steering mechanism 8 includes: a left front steering mechanism 80 and a right front steering mechanism 82, wherein the left front steering mechanism 80 and the right front steering mechanism 82 have the same structure;
the left front transmission flapping mechanism comprises: a left front output gear 615, a left front movable ball 600, a left front crankshaft 601, a left front root link 602, a left front root rotor 603;
The bottom plate bracket 1 is provided with a crank frame, and two ends of the left front crank shaft 601 are in shaft connection with the crank frame of the bottom plate bracket 1; the left front output gear 615 is fixedly connected with a left front crankshaft 601, a left front movable ball head 600 is fixed at the middle section of the left front crankshaft 601, a ball head sleeve is arranged at one end of a left front wing root connecting rod 602, and the ball head sleeve of the left front wing root connecting rod 602 is in shaft connection with the left front crankshaft 601 through the left front movable ball head 600; the middle part of the left front wing root connecting rod 602 is connected with the left front wing root rotating block 603 in a sliding way, and the other end of the left front wing root connecting rod is connected with the front flapping wing 2; the left front wing root rotating block 603 is connected to the bottom plate bracket 1 by a shaft;
the left front output gear 615 and the right front output gear 614 are engaged with each other, and the front main motor 411 inputs power thereto.
The left front steering mechanism 80 includes: a left front steering motor 802, a left front threaded swivel 805, a left front slider 806, a left front linear rail 808, a left front ball mount 807; the left front screw rotary column 805, the left front sliding block 806 and the left front linear guide rail 808 form a screw structure, the left front ball head support 807 is arranged on the left front sliding block 806, the left front ball head support 807 is provided with a universal ball, and the universal ball is connected with the left front wing root rotary block 603;
The left front motor support 801 and the left front linear guide rail 808 are fixedly connected to the bottom plate bracket 1, and two ends of the left front threaded rotary column 805 are axially connected to corresponding brackets of the bottom plate bracket; the left front screw rotary column 805, the left front sliding block 806 and the left front linear guide rail 808 form a screw structure, the left front ball head support 807 is arranged on the left front sliding block 806, the left front ball head support 807 is provided with a universal ball, and the universal ball is connected with a ball head sleeve of the left front wing root rotary block 603; the left front steering motor 802 is mounted on the left front motor bracket, the left front steering pinion 803 is fixedly connected with the output shaft of the left front steering motor 802, the left front steering gear wheel 804 is fixedly connected with the left front threaded steering column 805, and the left front steering pinion 803 is meshed with the left front steering gear wheel 804.
The left front transmission flapping mechanism is provided with a left front elastic reset mechanism 10, so that the left front wing root connecting rod 602 is limited in motion and reset after motion; the right front elastic reset mechanism 11 of the right front transmission flapping mechanism is the same as the left front elastic reset mechanism 10;
The crank of the left front crankshaft 60 of the left front elastic resetting mechanism 10 is provided with a spring I10 a, a spring II 10b, a movable rotary piece I10 c and a movable rotary piece II 10d, the movable rotary piece I10 c and the movable rotary piece II 10d are connected with each other in a shaft way through the middle section of the left front crankshaft 601 and fixed on two side brackets of a ball sleeve of a left front wing root connecting rod 602, the central aperture of the movable rotary piece I10 c and the movable rotary piece II 10d is larger than the diameter of the middle section of the left front crankshaft 601, the spring I10 a is arranged between the movable rotary piece I10 c and a front supporting table of the left front crankshaft 601 through the middle section of the left front crankshaft 601, and the spring II 10b is arranged between the movable rotary piece I10 d and a rear supporting table of the left front crankshaft 601 through the middle section of the left front crankshaft 601; the springs I10 a and II 10b are in a compressed state;
The front flapping wing device is provided with a front speed reduction transmission mechanism 4, which comprises: the front speed reduction transmission bracket 410, a main motor pinion 412 and a double-layer compound gear 413, wherein the front speed reduction transmission bracket 410 is fixed on the bottom plate bracket 1 through screws, and the front main motor 411 is fixed on a rear side motor mounting frame of the front speed reduction transmission bracket 410 through screws;
The axle center of the left front output gear 615 is provided with a prismatic opening, the left front crankshaft 601 is provided with a prism matched with the prismatic opening, and the left front crankshaft 601 is identical to the right front crankshaft 611; when the right front output gear 614 and the left front output gear 615 overlap, the edges of their prismatic openings cross each other at an angle equal to 1/2 of the angle of the adjacent two teeth on the gears;
The left front output gear 615 and the right front output gear 614 are meshed with each other and fixed on a front side gear mounting frame of the front reduction transmission bracket 410, wherein the right front output gear 614 is meshed with a pinion gear of the double-layer compound gear 413; the large gear of the double-layer compound gear 413 is meshed with the front main motor pinion 412, and the main motor pinion 412 is fixedly connected with the front main motor 411 through a shaft;
The bulb sleeve of the left front wing root connecting rod 602 is connected with the middle section shaft of the left front crankshaft 601 through the left front movable bulb 600, and the left front movable bulb 600 is fixedly connected with the left front crankshaft 601 in a position-variable manner.
The invention provides a bionic dragonfly flapping wing aircraft, which belongs to the technical field of aircrafts and comprises the following components: a bottom plate bracket; front flapping wing, back flapping wing, front flapping device, back flapping device, wherein: the front and rear flapping devices have the same structure and are symmetrically arranged at the front and rear ends of the bottom plate bracket; the flapping device comprises: the device comprises a motor, a transmission flapping mechanism and a steering mechanism; the transmission flapping mechanism is a space crank rotating block mechanism; the steering mechanism can control the flapping wings to perform glancing motion. The front and rear driving flapping mechanisms are respectively controlled by two motors, so that the flapping phase difference and the flapping frequency between the front flapping wing and the rear flapping wing can be controlled to finish pitching motion, the front steering mechanism and the rear steering mechanism are controlled to finish yaw or rapid jerking motion, if the front steering mechanism and the rear steering mechanism continuously reciprocate, the front flapping wing and the rear flapping wing can finish up-and-down flapping of front and rear sweeping in space, the real flight condition of the dragonfly is simulated better, and the bionic effect is achieved.
In summary, compared with the prior art, the invention has the following beneficial effects and advantages:
The flapping wing aircraft simulates the flapping frequency of a dragonfly wing and a motion mode of multiple degrees of freedom in reality, and is a novel bionic dragonfly flapping wing aircraft based on dragonfly flight characteristics and a pneumatic theory. Because the driving sources of the front and rear transmission mechanisms of the flapping wing aircraft are different, the flapping phase difference and the flapping frequency between the front and rear flapping wings can be controlled, the pitching motion can be finished, the front and rear steering mechanisms can enable the aircraft to finish yaw or rapid jerk motion, if the front and rear steering mechanisms continuously reciprocate, the front and rear flapping wings can finish the up-and-down flapping of the front and rear sweeps in space, and the front and rear flapping wings can passively twist in a certain range in the flapping wing motion process, the real flying actions (pitching, yawing, diving, jerk and the like) of the dragonfly can be well simulated, and a good bionic effect can be achieved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a bionic dragonfly ornithopter of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the front flapping device and the rear flapping device of the bionic dragonfly flapping-wing aircraft;
FIG. 3 is a schematic diagram of the structure of a support seat and a mounting positioning hole on a base plate bracket of a bionic dragonfly ornithopter in the invention;
FIG. 4 is a schematic diagram of a bionic dragonfly ornithopter in accordance with the present invention;
FIG. 5 is a schematic diagram of the explosive structure of the front speed reduction transmission mechanism of the bionic dragonfly ornithopter;
FIG. 6 is a schematic diagram of a square hole gear in a front speed reduction transmission mechanism and a left front transmission flapping mechanism of the bionic dragonfly flapping wing aircraft;
FIG. 7 is a schematic diagram of the overall structure of a front flapping device of the bionic dragonfly flapping-wing aircraft;
FIG. 8 is a schematic diagram of a wing root link of the bionic dragonfly ornithopter and its connection with the ornithopter according to the present invention;
FIG. 9 is a schematic diagram of the explosive structure of the elastic mechanism at the root of the wing link of the bionic dragonfly ornithopter;
FIG. 10 is a schematic diagram of a front drive flapping mechanism of the bionic dragonfly flapping-wing aircraft according to the present invention;
FIG. 11 is a schematic diagram of a steering mechanism of the bionic dragonfly ornithopter of the present invention;
FIG. 12 is a schematic diagram of a bionic dragonfly ornithopter according to the present invention in a gliding or diving condition;
FIG. 13 is a schematic diagram of a small amplitude yaw state of a bionic dragonfly ornithopter of the present invention;
fig. 14 is a schematic diagram of the bionic dragonfly ornithopter of the present invention in a greatly jerked state.
In the drawings:
1. A bottom plate bracket;
2.2 front flapping wings; 21. a left front flapping wing; 22. a right front flapping wing; 210. a left front flapping wing die; 211. 212, left front flapping wing connector; 213. a jackscrew;
3.2 rear flapping wings; 31. left rear flapping wing, 32, right rear flapping wing;
4. A front reduction transmission mechanism; 410. a front reduction transmission bracket; 411. a front main motor; 412. a front main motor pinion; 413. a front double-layer composite gear;
6. A front drive flapping mechanism; 60. a left front transmission flapping mechanism; 600. the left front movable ball head; 601. a left front crankshaft; 602. left front wing root connecting rod; 603. left front wing root turning block; 61. a right front transmission flapping mechanism; 610. the right front movable ball head; 611. a right front crankshaft; 612. a right front wing root link; 613. a right front wing root rotating block; 614. a right front output gear; 615. a left front output gear;
8. A front steering mechanism; 80. a left front steering mechanism; 801. a left front steering motor bracket; 802. a left front steering motor; 803. a left front steering pinion; 804. left front steering gear wheel; 805. a left front threaded swivel post; 806. a left front slider; 807. a left front ball head support; 808. a left front linear guide rail; 82. a right front steering mechanism;
10. A left front elastic reset mechanism; 10a, a spring I; 10b, a spring II; 10c, a movable rotating piece I; 10d, a movable rotating piece II;
11. the right front elastic reset mechanism.
Detailed Description
So that the manner in which the above recited objects, advantages and features of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings.
In order to enable the bionic dragonfly flapping wing aircraft to have a better bionic effect, the flapping frequency of the dragonfly wings and the movement mode of multiple degrees of freedom in reality are simulated, the driving sources of the front and rear transmission mechanisms of the flapping wing aircraft are different, further, the control of the flapping phase difference and the flapping frequency between the front and rear flapping wings can be realized, further, pitching movement is completed, the front and rear steering mechanisms can enable the aircraft to complete yaw or rapid jerking movement, if the front and rear steering mechanisms continuously reciprocate, the front and rear flapping wings can complete up and down flapping of front and rear sweeps in space and can generate passive torsion in a certain range in the flapping wing movement process, and better simulation is achieved on the real flying actions (pitching, yawing, diving, jerking and the like) of the dragonfly, so that a better bionic effect is achieved.
The invention relates to a bionic dragonfly flapping wing aircraft, which comprises: the device comprises a bottom plate bracket 1,2 front flapping wings 2, 2 rear flapping wings 3, a front flapping wing device and a rear flapping wing device, wherein:
the bottom plate bracket 1 is made of a polymer composite material with high specific strength and specific rigidity, a plurality of supporting seats and mounting and positioning holes are arranged at the front end and the rear end of the bottom plate bracket, the front flapping wing device and the rear flapping wing device have the same structure and are symmetrically arranged at the front end and the rear end of the bottom plate bracket 1;
The four flapping wings of the 2 front flapping wings 2 and the 2 rear flapping wings 3 are basically identical in structure, and the 2 front flapping wings 2 comprise: a left front flapping wing 21 and a right front flapping wing 22, the 2 rear flapping wings 3 comprising: a left rear flapping wing 31 and a right front flapping wing 32; taking the left front flapping wing 21 as an example: the fin pulse structure 211 is a bionic design by referring to a dragonfly fin pulse structure in reality, carbon fibers are selected as materials, high-elasticity polyester films selected as the fin films 210 are wrapped on the upper surface and the lower surface of the fin pulse 211, and the flapping wing connector 212 and the fin pulse structure 211 are of an integrated structure or are fixedly connected;
the front flapping wing device comprises: a front main motor 411, a front reduction transmission mechanism 4, a front transmission flapping mechanism 6 and a front steering mechanism 8, wherein the front transmission flapping mechanism 6 comprises a left front transmission flapping mechanism 60 and a right front transmission flapping mechanism 61; the front steering mechanism 8 includes: a left front steering mechanism 80 and a right front steering mechanism 82, wherein the left front steering mechanism 80 and the right front steering mechanism 82 have the same structure;
The front reduction gear mechanism 4 includes: the front speed reduction transmission bracket 410, a main motor pinion 412 and a double-layer compound gear 413, wherein the front speed reduction transmission bracket 410 is fixed on the bottom plate bracket 1 through screws, and the front main motor 411 is fixed on a rear side motor mounting frame of the front speed reduction transmission bracket 410 through screws; the main motor pinion 412 is fixedly connected with the output shaft of the front main motor 411; the double-layer compound gear 413 is fixed on the front side gear mounting frame of the front reduction transmission bracket 410 through pins; the main motor pinion 412 is meshed with a larger gear of the double-layer compound gear 413;
The left front drive flapping mechanism 60 includes: a left front output gear 615, a left front movable ball 600, a left front crankshaft 601, a left front root link 602, a left front root rotor 603;
The right front drive flapping mechanism 61 includes: a right front output gear 614, a right front movable ball 610, a right front crankshaft 611, a right front root link 612, a right front root rotor 613;
The left front output gear 615 and the right front output gear 614 are meshed with each other and are fixed on a front side gear mounting frame of the front reduction transmission bracket 410 by pins, wherein the right front output gear 614 is meshed with a smaller gear of the double-layer compound gear 413; thus, a secondary speed reduction transmission mechanism is formed, and the front main motor 411 inputs low-speed high-torque power for the front transmission flapping mechanism 6 through the speed reduction mechanism;
The bottom plate bracket 1 is provided with a crank frame, and one end of the left front crank shaft 601 is in shaft connection with the crank frame of the bottom plate bracket 1; the other end of the left front wing root connecting rod is fixedly connected with a boss square hole of a left front output gear 615, a left front movable ball head 600 is fixed at the middle section of a left front crankshaft 601, one end of a left front wing root connecting rod 602 is provided with a head sleeve, and the head sleeve of the left front wing root connecting rod 602 is in shaft connection with the left front crankshaft 601 through the left front movable ball head 600; the middle part of the left front wing root connecting rod 602 is connected with the left front wing root rotating block 603 in a sliding way, and the other end of the left front wing root connecting rod is connected with the left front flapping wing 21; the left front wing root rotating block 603 is connected to the bottom plate bracket 1 by a shaft;
The right front drive flapping mechanism 61 and the left front drive flapping mechanism 60 are consistent in mechanism distribution.
The left front steering mechanism 80 and the right front steering mechanism 82 of the bionic dragonfly flapping wing aircraft are symmetrically arranged at two ends of the front transmission flapping mechanism 6, and the left front steering mechanism 80 comprises: a left front motor support 801, a left front steering motor 802, a left front steering pinion 803, a left front steering gear wheel 804, a left front threaded column 805, a left front slider 806, a left front ball support 807, a left front linear guide 808; the left front motor support 801 and the left front linear guide rail 808 are fixedly connected to the bottom plate bracket 1, and two ends of the left front threaded rotating column 805 are axially connected to corresponding brackets of the bottom plate bracket; the left front screw rotary column 805, the left front sliding block 806 and the left front linear guide rail 808 form a screw structure, the left front ball head support 807 is arranged on the left front sliding block 806, the left front ball head support 807 is provided with a universal ball, and the universal ball is connected with a ball head sleeve of the left front wing root rotary block 603; the left front steering motor 802 is mounted on the left front motor bracket, the left front steering pinion 803 is fixedly connected with the output shaft of the left front steering motor 802, the left front steering gear wheel 804 is fixedly connected with the left front threaded steering column 805, and the left front steering pinion 803 is meshed with the left front steering gear wheel 804; the front left steering mechanism uses the front left steering motor 802 as a driver; in summary, the left front steering mechanism 80 and the right front steering mechanism 82 can respectively drive (push or pull) the left front wing root connecting rod 602 and the right front wing root connecting rod 612 connected with them to rotate forward or backward so as to drive the 2 front flappers 2 to perform the glancing motion to control the flight direction.
The left front transmission flapping mechanism 60 of the bionic dragonfly flapping wing aircraft is provided with a left front elastic reset mechanism 10, the left front elastic reset mechanism 10 utilizes a left front crankshaft 601 and a part of supporting structures of a left front wing root connecting rod 602, a spring I10 a, a spring II 10b, a movable rotating piece I10 c and a movable rotating piece II 10d are added on the basis, the movable rotating piece I10 c and the movable rotating piece II 10d penetrate through the middle section of the left front crankshaft 601 and are connected to two side brackets of a spherical sleeve of the left front wing root connecting rod 602 in a shaft way, and the central aperture of the movable rotating piece I10 c and the movable rotating piece II 10d is larger than the diameter of the middle section of the left front crankshaft 601, so that the requirements of the front left wing root connecting rod 602 rotating forwards and backwards in a certain range and driving the flapping wing to change into glancing angle are met; the spring I10 a passes through the middle section of the left front crankshaft 601 and is arranged between the movable rotary piece I10 c and the front supporting table of the left front crankshaft 601, and the spring II 10b passes through the middle section of the left front crankshaft 601 and is arranged between the movable rotary piece I10 d and the rear supporting table of the left front crankshaft 601; the spring I10 a and the spring II 10b are in a compressed state, so that an elastic reset mechanism for limiting the movement of the left front wing root connecting rod 602 and resetting the movement is formed; the right front elastic reset mechanism 11 of the right front transmission flapping mechanism is the same as the left front elastic reset mechanism 10.
The right front transmission flapping mechanism 61 and the left front transmission flapping mechanism 60 of the bionic dragonfly flapping-wing aircraft are consistent in the structural parts.
The axle center of the left front output gear 615 is provided with a prismatic opening, the left front crankshaft 601 is provided with a prism matched with the prismatic opening, and the left front crankshaft 601 is identical to the right front crankshaft 611; the angle of the prismatic openings of the front left output gear (615) and the front right output gear 614 are slightly different.
When the right front output gear 614 and the left front output gear 615 overlap, the edges of the prismatic openings of the right front output gear 614 and the left front output gear 615 are intersected with each other, and the included angle is equal to 1/2 of the included angle of two adjacent teeth on the gears; the other parts are completely coincident. When the right front output gear 614 meshes with the left front output gear 615, their prismatic openings are symmetrical to each other.
To ensure symmetry and synchronism of the movement of the right front crankshaft 611 and the left front crankshaft 601, the square hole of the right front output gear 614 is spatially rotated by a corresponding angle of "1/2 tooth" compared with the square hole of the left front output gear 615 during the gear manufacturing process, and is installed on the front reduction transmission bracket 410 according to the symmetry of the square hole.
The left front wing root connecting rod 602 ball sleeve of the bionic dragonfly ornithopter is connected with the middle section shaft of the left front crankshaft 601 through the left front movable ball 600, and the left front movable ball 600 is fixedly connected with the left front crankshaft 601 in a position-variable manner; the left front crankshaft 601 is made into a split type spliced structure, a hole is formed in the left front wing root connecting rod 602, the movable ball head I is moved to a proper position on the left front crankshaft 601 through the hole of the left front wing root connecting rod 602 before each flight test, and the movable ball head I is fixed on a designated position of the left front crankshaft 601 by utilizing a jackscrew structure; the structure can be used for changing the distance between the front flapping wing and the rear flapping wing in the front-rear direction before taking off, and the phenomenon that the front flapping wing and the rear flapping wing interfere in the movement process is avoided by the mode when the flapping wings with different sizes are replaced, so that the applicability of the flapping wing device is stronger.
The left front flapping wing 21 of the bionic dragonfly flapping wing aircraft is inserted into an outer slot of a wing root connecting rod 602 through a left front flapping wing connector 212 and is fixed through a jackscrew 213; the number of the jackscrews and the threaded holes matched with the jackscrews is set according to the actual weight of the machine body and the specific size of the flapping wing.
The invention relates to a mechanism motion process of a bionic dragonfly flapping wing aircraft, which comprises the following steps:
The front flapping wing device and the rear flapping wing device of the flapping wing aircraft have the same structure, so the front flapping wing device is taken as an example: in operation, the front main motor 411 with the rear shaft output of the outer rotor generates power to drive the front main motor pinion 412 with the modulus of 0.5 and the number of teeth of 10, which are fixedly connected with the front main motor pinion 412 to rotate, the front main motor pinion 412 drives the big teeth of the front two layers of compound gears 413 (the number of the pinion teeth is 20, the number of the big gear teeth is 100, and the modulus of both the big gear teeth is 0.5) on the front reduction transmission bracket 410 to rotate, the smaller gear of the front two layers of compound gears 413 drives the right front output gear 614 with the modulus of 0.5 and the number of the teeth of 100 on the front reduction transmission bracket 410 to rotate, and the right front output gear 614 drives the left front output gear 615 with the modulus of 0.5 and the number of the teeth of 100, which are also positioned on the bracket 410 to rotate. At this time, the front main motor 411 transmits low-custom high-torque power to the left front flapping mechanism 60 and the right front flapping mechanism 61 through the speed reducing mechanism because of the symmetrical synchronicity of the movements of the left front flapping mechanism 60 and the right front flapping mechanism 61; the description will be continued taking the movement of the left front flapping mechanism 60 as an example: one end of the left front crankshaft 601 is connected with the other end of the corresponding support of the bottom plate bracket 1 in a shaft way and is fixedly connected with the left front output gear 615; therefore, the left front output gear 615 transmits power to the left front crankshaft 601 fixedly connected with the left front output gear through the square hole on the boss to drive the left front crankshaft 601 to rotate, the left front crankshaft 601 drives the left front wing root connecting rod 602 and the left front wing root rotating block 603 to rotate around the left front ball head support 807, and certain relative sliding occurs between the left front wing root connecting rod 602 and the left front wing root rotating block 603 in the process; the root of the left front wing root connecting rod 602 is provided with an elastic reset mechanism 10, the left front wing root connecting rod 602 is kept in a recovery state at any time and plays a certain limiting role, and the rotation of the left front wing root connecting rod 602 drives the left flapping wing 21 connected with the left front wing root connecting rod to flap up and down; whereby up-and-down flapping of the left front flapping wing 21 can be achieved. During flight, the forward and backward rotation of the left front steering motor 802 in the left front steering mechanism 80 is controlled to drive the left front slider 806 in the screw structure to move forward or backward along the left front linear guide rail 808, so that the left front wing root rotating block 603 connected with the left front slider 806 and the left front wing root connecting rod 602 connected with the left front wing root rotating block 603 in a sliding manner are driven (pushed or pulled) to rotate forward or backward through the left front ball head support 807 positioned on the left front slider 806, and in the process, the left front wing root connecting rod and the left front wing root rotating block also slide relatively.
The left front flapping wing 21 and the right front flapping wing 22 can generate certain telescopic movement in the expanding direction in the flapping process, and by utilizing the characteristic, the flapping wing can be provided with larger lifting force so that the flapping wing aircraft has better aerodynamic performance, and only the forward and backward rotation of the front main motor 411 is controlled to enable the double wings to do stretching movement and shrinking movement in the downward flapping process and upward flapping process; the flapping resistance of the flapping wing is smaller, so that the overall lifting force of the flapping wing is improved.
Based on bionics, the flapping frequency of the bionic dragonfly flapping wing aircraft is designed to be 20-25Hz, the reduction ratio of a reduction gear set is set to be 50:1, a power supply mode of a 3S (11.1V) lithium battery and a front main motor 411 with 5400-6700kv value are selected, and the theoretical flapping frequency can be met under the condition of sufficient electric quantity of a power supply system.
In conclusion, the flapping wing aircraft simulates the flapping frequency of a dragonfly wing and a motion mode of multiple degrees of freedom in reality, and is a novel bionic dragonfly flapping wing aircraft based on dragonfly flight characteristics and a pneumatic theory. The ornithopter can realize various movement modes; because the driving sources of the front and rear transmission mechanisms of the flapping wing aircraft are different, the flapping phase difference and the flapping frequency between the front and rear flapping wings can be controlled to finish pitching movement, and the double wings of the bionic dragonfly flapping wing aircraft have no phase difference or little phase difference and can realize a gliding or diving state as shown in figure 12 when the double wings do not flap; the flapping wings can generate passive deformation when flapping up and down to generate propelling force vertical to the front edge of the flapping wings, and the front and rear steering mechanisms can independently control the flapping wings connected with the front and rear steering mechanisms to perform glancing movement; therefore, the sweep angles of the 2 front flapping wings are adjusted through the front steering mechanism to generate a certain yaw moment so that the aircraft can finish small-amplitude yaw movement as shown in figure 13; similarly, the forward and backward 2 pairs of flapping-wing turning motions are controlled to generate larger yaw moment so as to finish the large-amplitude sharp turning motion as shown in figure 14. When the double-wing flapping is performed, if the front and rear steering mechanisms continuously reciprocate, the front and rear flapping wings can spatially complete the up and down flapping of the front and rear sweeps, the front and rear flapping wings can passively twist within a certain range in the flapping wing movement process, and when the left and right steering mechanisms continuously reciprocate asymmetrically, the flapping wing aircraft can generate yaw moment; the wing tip motion track of the ornithopter can realize an 8-shaped or oval track, and can simulate the real flight actions (pitching, yawing, diving, jerking and the like) of the dragonfly well, so that a good bionic effect is achieved.
Because the innovation of the invention is mainly the innovation of the structure of the flapping wing air vehicle, the control system of the flapping wing air vehicle is not included in the invention, and a visual system can be additionally arranged if the technology allows, and the information obtained by the visual system is processed and then fed back to the control system; and the surrounding environment is recorded in real time, and meanwhile, the obstacles are avoided, so that perfect closed-loop control is realized.
Claims (9)
1. A bionic dragonfly ornithopter comprising: the front flapping wing device and the rear flapping wing device have the same structure and are symmetrically arranged at the front end and the rear end of the bottom plate bracket (1);
The front flapping wing device comprises: a front main motor (411), a left front transmission flapping mechanism (60), a right front transmission flapping mechanism (61) and a front steering mechanism (8); the front steering mechanism (8) comprises: the left front steering mechanism (80) and the right front steering mechanism (82), the left front transmission flapping mechanism (60) and the right front transmission flapping mechanism (61) are the same, and the left front steering mechanism (80) and the right front steering mechanism (82) are the same in structure;
the left front transmission flapping mechanism (60) comprises: a left front output gear (615), a left front movable ball head (600), a left front crankshaft (601), a left front wing root connecting rod (602) and a left front wing root rotating block (603);
The bottom plate bracket (1) is provided with a crank frame, and two ends of the left front crank shaft (601) are connected with the crank frame of the bottom plate bracket (1) in a shaft way; the left front output gear (615) is fixedly connected with a left front crankshaft (601), a left front movable ball head (600) is fixed at the middle section of the left front crankshaft (601), a ball head sleeve is arranged at one end of a left front wing root connecting rod (602), and the ball head sleeve of the left front wing root connecting rod (602) is connected with the left front crankshaft (601) through the left front movable ball head (600) in a shaft mode; the middle part of the left front wing root connecting rod (602) is in sliding connection with the left front wing root rotating block (603), and the other end of the left front wing root connecting rod is connected with the left front flapping wing (21); the left front wing root rotating block (603) is connected to the bottom plate bracket (1) in a shaft way;
The left front output gear (615) and the right front output gear (614) are meshed with each other, and the front main motor (411) inputs power to the gears.
2. The bionic dragonfly ornithopter of claim 1, wherein: the left front steering mechanism (80) comprises: a left front steering motor (802), a left front screw rotary column (805), a left front slider (806), a left front linear guide rail (808) and a left front ball head support (807); the left front screw rotary column (805), the left front sliding block (806) and the left front linear guide rail (808) form a screw structure, the left front ball head support (807) is arranged on the left front sliding block (806), the left front ball head support (807) is provided with a universal ball, and the universal ball is connected with the left front wing root rotary block (603).
3. The bionic dragonfly ornithopter of claim 2, wherein: the left front motor support 801 and the left front linear guide rail (808) are fixedly connected to the bottom plate bracket (1), and the universal ball is connected with a ball head sleeve of the left front wing root rotating block (603); the left front steering motor (802) is arranged on the left front motor bracket, the left front steering pinion (803) is fixedly connected with an output shaft of the left front steering motor (802), the left front steering gear (804) is fixedly connected with the left front threaded rotating column (805), and the left front steering pinion (803) is meshed with the left front steering gear (804).
4. A biomimetic dragonfly ornithopter according to any one of claims 1 to 3, wherein: the left front transmission flapping mechanism is provided with a left front elastic reset mechanism (10) to enable the left front wing root connecting rod (602) to reset after limiting and moving in the movement; the right front transmission flapping mechanism is provided with a right front elastic reset mechanism (11) which is the same as the left front elastic reset mechanism (10).
5. The bionic dragonfly ornithopter of claim 4, wherein: the crank of the left front crankshaft (60) of the left front elastic reset mechanism (10) is provided with a spring I (10 a), a spring II (10 b), a movable rotary piece I (10 c) and a movable rotary piece II (10 d)), the movable rotary piece I (10 c) and the movable rotary piece II (10 d) penetrate through the middle section of the left front crankshaft (601) to be connected with the brackets on the two sides of the ball sleeve of the left front wing root connecting rod (602), the central aperture of the movable rotary piece I (10 c) and the movable rotary piece II (10 d) is larger than the diameter of the middle section of the left front crankshaft (601), the spring I (10 a) penetrates through the middle section of the left front crankshaft (601) to be arranged between the movable rotary piece I (10 c) and the front supporting table of the left front crankshaft (601), and the spring II (10 b) penetrates through the middle section of the left front crankshaft (601) to be arranged between the movable rotary piece I (10 d) and the rear supporting table of the left front crankshaft (601); the springs I (10 a) and II (10 b) are in a compressed state.
6. The bionic dragonfly ornithopter of claim 5, wherein: the front flapping wing device is provided with a front speed reduction transmission mechanism (4), which comprises: the front speed reduction transmission mechanism comprises a front speed reduction transmission mechanism bracket (410), a main motor pinion (412) and a double-layer compound gear (413), wherein the front speed reduction transmission bracket (410) is fixed on a bottom plate bracket (1) through screws, and a front main motor (411) is fixed on a rear side motor mounting frame of the front speed reduction transmission bracket (410) through screws.
7. The bionic dragonfly ornithopter of claim 6, wherein: the axle center of the left front output gear (615) is provided with a prismatic opening, the left front crankshaft (601) is provided with a prism matched with the prismatic opening, and the left front crankshaft (601) is identical to the right front crankshaft (611); when the right front output gear (614) and the left front output gear (615) are coincident, the edges of the prismatic openings of the right front output gear and the left front output gear are intersected with each other, and the included angle is equal to 1/2 of the included angle of two adjacent teeth on the gears.
8. The bionic dragonfly ornithopter of claim 7, wherein: the left front output gear (615) and the right front output gear (614) are fixed on a front side gear mounting frame of the front reduction transmission bracket (410), wherein the right front output gear (614) is meshed with a pinion of the double-layer compound gear (413); the large gear of the double-layer compound gear (413) is meshed with the small gear (412) of the front main motor, and the small gear (412) of the main motor is fixedly connected with the shaft of the front main motor (411).
9. The bionic dragonfly ornithopter of claim 8, wherein: the left front wing root connecting rod (602) ball sleeve is connected with the middle section shaft of the left front crankshaft (601) through the left front movable ball (600), and the left front movable ball (600) is fixedly connected with the left front crankshaft (601) in a position-variable mode.
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| CN102211665A (en) * | 2010-04-07 | 2011-10-12 | 上海工程技术大学 | Micro dragonfly-imitating dual-flapping wing aircraft |
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